Besides high-resolution images, Google Street View also provides a depth map for each panorama, containing the distance from the camera to the nearest surface at each pixel. As far as I know, there is no official documentation of the format, but there are some open source projects which contain code showing how to interpret the data. The depth information is stored in a slightly complicated way, p
![Extract depth maps from Google Street View](https://cdn-ak-scissors.b.st-hatena.com/image/square/5b8f75f1dc1b14192b459a05b9729734eddfea91/height=288;version=1;width=512/https%3A%2F%2F0xef.files.wordpress.com%2F2013%2F05%2Fdepthmap.jpg%3Fw%3D300)